Abstract: Recent years have witnessed the rapid development of distributed control of multi-robot systems because the multi-robot system has some distinguished features such as the flexibility, low-cost and high tolerance to disturbances. As the number of robots increases, the centralized organization of multi-robot systems encounters many disadvantages. A promising way is to organize the multi-robot system in a distributed manner. This will bring difficulties in the design of corresponding control approaches. This minisymposia aims at attracting contributions of distributed control of multi-robot systems and provides a forum for researchers in this field.

MS-We-E-05-116:00--16:30Synchronized control for Multiple Lagrange systemZhao, Dongya (China Univ. of Petroleum)Abstract: With the advances in production, more and more tasks require cooperation in the mechanical systems. The multiple machineries are required to work in cooperative manner. For high-precision machineries, the moving parts are required to work in coordinated mode. Synchronized control approach is an effective solution for cooperation of mechanical systems. It becomes a hot issue in academia and industry.

MS-We-E-05-216:30--17:00Leader-Follower Flocking Based on Distributed Event-triggered Hybrid ControlYu, Pian (Wuhan Univ.)Ding, Li (Wuhan Univ.)Liu, Zhiwei (Wuhan Univ.)Guan, Zhihong (Huazhong Univ. of Sci. & Tech.)Abstract: A novel hybrid control algorithm is proposed in this paper to achieve leader-follower flocking in multi-agent systems. The proposed algorithm only use position state continuously while the velocity state is utilized discretely. The sampling instant is governed by a distributed event-triggered mechanism in which neighbors¡¯ velocity is not required to verify the event-triggered condition. It is shown that stable flocking is achieved asymptotically while the connectivity of networks can be preserved for the whole process.

MS-We-E-05-317:00--17:30On the task-space consensus of networked robotic systems without task-space velocity measurementWang, Hanlei (Beijing Inst. of Control Engineering)Xie, Yongchun (Beijing Inst. of Control Engineering)Abstract: In this paper, we investigate the task-space consensus problem for multiple robotic systems with both the uncertain kinematics and dynamics in the case of existence of constant communication delays. We propose an observer-based adaptive control scheme to achieve the consensus objective without relying on the measurement of task-space velocities. By Lyapunov-like analysis and iBIBO-stability-based analysis, we demonstrate that the task-space positions of the robotic systems converge to the scaled weighted average of their initial values.

MS-We-E-05-417:30--18:00Containment control of continuous-time linear multi-agent systems with aperiodic samplingLiu, Huiyang (Univ. of Sci. & Tech. Beijing)Cheng, Long (Inst. of Automation, Chinese Acad. of Sci.)Abstract: In this paper, the containment control problem of continuous-time linear multi-agent systems is investigated. An aperiodic sampled-data based protocol for containment control is induced by using neighboring information with uncertainly time-varying sampling intervals. By using the proposed protocol, the closed-loop multi-agent system is transformed into a discrete-time system with the discrete way. Utilizing properties of Laplacian matrix, the containment control problem is equivalent to a stability problem. The stability analysis is based on the robustness of related discrete-time systems against perturbation caused by the variation of sampling intervals. By using small-gain theorem, sufﬁcient conditions are obtained to guarantee the stability of uncertain discrete-time systems. Furthermore, two special cases are given to illustrate the method proposed in this paper. The theoretical results are veriﬁed by some simulations.